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WO2007101744A1 - Procédé et système pour afficher des indications de navigation - Google Patents

Procédé et système pour afficher des indications de navigation Download PDF

Info

Publication number
WO2007101744A1
WO2007101744A1 PCT/EP2007/050712 EP2007050712W WO2007101744A1 WO 2007101744 A1 WO2007101744 A1 WO 2007101744A1 EP 2007050712 W EP2007050712 W EP 2007050712W WO 2007101744 A1 WO2007101744 A1 WO 2007101744A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
navigation
image
displayed
environment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2007/050712
Other languages
German (de)
English (en)
Inventor
Mario Mueller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to US12/224,456 priority Critical patent/US20090187333A1/en
Priority to EP07712099A priority patent/EP1994366B1/fr
Publication of WO2007101744A1 publication Critical patent/WO2007101744A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams

Definitions

  • the invention relates to a method for displaying at least one navigation instruction supplied by a navigation system of a vehicle, wherein a section of the vehicle surroundings is taken by a camera and recorded by a camera
  • Display unit is displayed as an environment image, and wherein the determined depending on a destination position and the current position of the vehicle navigation instruction is also displayed by the display unit.
  • the invention further relates to an arrangement with which such a method is feasible.
  • auxiliary lines for facilitating the parking process can also be visually displayed as additional information in the display unit. Also can
  • Symbols or texts are created and displayed as additional information. Artificially generated graphic data are always displayed simultaneously with the recorded images of the real environment of the vehicle in a display unit.
  • a display unit may preferably serve a display or monitor.
  • a method of the type mentioned above and a corresponding arrangement is known from DE 101 38 719 Al.
  • navigation instructions are superimposed on the images of the vehicle environment recorded by a vehicle camera and displayed in the display unit.
  • JP 11023305 Al obstacles that may be present, for example, in the form of stationary or moving objects, for example as foreign vehicles, instead of being hidden by the displayed navigation instructions, are only transparently superimposed by them.
  • JP 09325042 A1 and JP 2004257979 Al also provide methods in which navigation instructions are displayed in a display unit, wherein the distance from vehicle position and target position is taken into account in each case especially for the display creation.
  • JP 09325042 A1 it is known from JP 09325042 A1 to display navigation arrows in an image recorded by a video camera, with bending arrows being adapted in their length to the distance up to the turn-off point.
  • JP 2004257979 A1 discloses that turn-by-turn indications are displayed in a picture taken by a camera when the distance of the current vehicle position to the turn-off point is less than or equal to a certain value.
  • Navigation instructions displayed in advertisements generally serve to relieve the driver in complicated traffic situations and generally help him to orientate himself better.
  • the advantages of navigation instructions in closely spaced side streets in fast-flowing traffic are particularly clear.
  • the display unit in the form of a display integrated in the navigation device or a separate, usually smaller display arranged in the vehicle cockpit usually represents navigation instructions in the form of arrows, street names or distances.
  • Al is known to adapt the displayed navigation instructions to the captured by the camera image by the image of the navigation hint is overlaid on an original image of the camera or the display (overlay), and thereby a certain transparency of the navigation hint can be achieved, it is still for unsatisfactory to the driver, not to get the full visual contact on relevant road objects such as the roadside, foreign vehicles, road signs, pedestrians or cyclists.
  • relevant road objects such as the roadside, foreign vehicles, road signs, pedestrians or cyclists.
  • even transparent navigation instructions can lead to a reduced orientation or to a dangerous misjudgment of the traffic situation.
  • the driver makes too little use of the orientation aid offered by the navigation device and behaves accordingly frequently.
  • the problem underlying the present invention is thus generally to propose an improved method and an improved arrangement, which allows the driver to concentrate on the displayed navigation instructions and at the same time also on the other objects of road traffic without danger, in such a way to achieve generally improved orientation of the user in traffic.
  • the method according to the invention has the advantage that the driver is optimally supported, since both concealment and transparent superimposition of relevant objects are avoided by means of navigation instructions in the image of the vehicle environment. This leads as well as in the arrangement according to the invention according to claim 8 with the greatest possible information content to a gain in safety.
  • the at least one navigation instruction is in position and / or size and / or or form is positioned and / or moved and / or changed within the displayed environment image such that there is no overlap between the at least one navigation hint on the one hand and the object image or object images on the other hand.
  • the navigation instruction of the display unit is arranged and / or shifted and / or changed in its position and / or size and / or shape calculated by the arrangement such that there is always a distance between the object image and the navigation reference.
  • one or more objects are first recognized by means of a suitable object recognition device, for example in the form of a near or far-range radar, utilizing the Doppler effect.
  • a suitable object recognition device for example in the form of a near or far-range radar, utilizing the Doppler effect.
  • Other sensors are also known to be suitable.
  • the object recognition device may also be hardware associated with the camera or other components of the device or navigation system that is equipped with object recognition software.
  • image recognition can also take place for object recognition.
  • a navigation indication to be displayed is then arranged within the displayed environment image such that it is at a distance from one detected object or to all detected objects. For this purpose, it can be moved laterally and / or up or down, for example. It may also be scaled down as long as possible, ie, pushed virtually into the image background until the object image and the navigation hint are spaced apart from one another.
  • the navigation information is required repeatedly, in particular continuously in its
  • Position and / or size and / or shape changed to avoid overlapping with an object image can also be zero.
  • Vehicles but also act to persons or obstacles.
  • objects that are not on the road, it is advantageous if objects are detected that are mobile and could reach the road, such as vehicles, people or animals.
  • immovable objects such as buildings or trees can also be disregarded.
  • the method can be further improved by a navigation instruction moving uniformly with the vehicle environment in the displayed image relative to the vehicle in the vehicle environment.
  • the navigation hint can be increased or decreased accordingly in the environment image.
  • the movement and / or enlargement or reduction of the navigation instruction can be effected in particular depending on the vehicle speed and the direction of travel. In this way, it is achieved that the navigation instructions such as traffic signs can be perceived without too much in the foreground.
  • the perception of the navigation instructions equal to the real traffic signs can be further promoted by the fact that when cornering the vehicle, the navigation instruction starting from an initial position, which may correspond, for example, a distance of 20 meters in front of the vehicle, according to the further course of the road or route within the display unit translationally shifted and / or rotated, so that the symbols displayed as a navigation hint are displayed as realistic as possible.
  • the displacement preferably takes place in such a way that the arrow symbol lies tangentially at the trajectory predetermined according to the further course of the road or course of the route.
  • Navigation instruction can be shifted laterally and / or rotated about an angle formed between the longitudinal center axis of the vehicle and the tangent approximated to the trajectory. In this case, in a simpler variant to be carried out only a rotation of the navigation hint. Also, in an existing lane detection system, the information about the other
  • Course of the lane are used to display the navigation icons in the correct position.
  • the size of navigation instructions can also be changed in order to ensure adaptation to the further course of the road or route within the display unit.
  • the transverse acceleration of the vehicle which can preferably be obtained from the ESP sensors, and / or the steering angle and the vehicle speed are evaluated in order to predetermine the trajectory or to predict the further course of the vehicle.
  • the method is carried out in the context of a night vision system.
  • the display of navigation instructions in the dark can preferably be added to an existing night vision screen as required.
  • the display of navigation instructions in the dark can preferably be added to an existing night vision screen as required.
  • the display of navigation instructions in the dark can preferably be added to an existing night vision screen as required.
  • Image editing can be adjusted or switched off accordingly.
  • the control of the switching can be done either manually or automatically, for example by means of a light sensor and / or a clock.
  • Navigation instructions and / or required for position and / or size change correction parameters are stored in a memory device, which may be provided in a development of the inventive arrangement.
  • FIG. 1 shows a construction diagram of an arrangement according to the invention for displaying navigation instructions
  • FIG. 2 shows an image of the display unit with object image and four navigation instructions
  • Figure 3 a diagram of the position shift of a navigation hint when cornering.
  • Figure 1 shows a construction diagram of an arrangement 1, with which the inventive method can be performed in a motor vehicle F in the context of a night vision system.
  • the night vision system comprises a camera 2 in the form of a night vision or IR camera, which is connected via a night vision control unit 3 to a display unit 4 in the form of a night vision display.
  • the display unit 4 can also be designed independently of a night vision system. It may be arranged at any position in the vehicle F, but it is preferably located in the area of the primary field of vision of the driver and may be integrated into a combination instrument 4a.
  • the arrangement 1 further comprises a navigation system with a
  • Navigation unit 5 which generates driving recommendation data 6 in a manner known per se, which can be displayed as navigation instructions 7 in the display unit 4.
  • the navigation unit 5 is also connected to the night vision control unit 3.
  • the arrangement 1 is in principle suitable for upgrading in the vehicle F integrated navigation systems or night vision systems.
  • the navigation unit 5 is based on received data, such as in the form of GPS data, which topograph ⁇ e records, road maps, etc. are highlighted, driving recommendation data 6 to the night vision control unit 5.
  • the night vision control unit 5 is the by means of a calibration device 8a and a renderer 8b processed data to the display unit 4 on, so that there the environment image 9 can be displayed together with an inserted navigation hint 7.
  • Distance indications can alternatively be displayed as relative distance bars.
  • the display of the navigation instruction 7, for example in the form of an arrow, is adapted in perspective to the environmental image 9 of the environment recorded by the camera 2.
  • the night-vision control device 3 here compensates for the measured by a sensor 11
  • the sensor 11 may be a pitch angle or pitch rate sensor or an acceleration sensor, but in particular an angle detection device shown in Figure 1 in the form of a sensor 11 for aligning the vehicle headlights.
  • the road surface can be calculated from the image data by means of suitable algorithms, which uses a lane recognition system 12 shown here.
  • suitable algorithms which uses a lane recognition system 12 shown here.
  • the rolling of the vehicle F can be compensated.
  • a road surface can be modeled without the
  • the night vision control unit 3 is supplied with speed data 13 and light sensor data or time data 14 for switching from the daytime operation T to the nighttime mode N.
  • the image brightness can be used to the
  • object recognition eg Nah Schlradar, Fern Schemeradar, Lidar
  • object recognition objects 15 can be detected, which may be present, for example in the form of vehicles in front ( Figure 2).
  • the object recognition makes it possible to move the displayed navigation instructions 7 in their virtual distance in the environment image 9 or in their position on the display unit 4 until they are no longer on the displayed object image 16 of the detected object 15. It is also conceivable to arrange the navigation instructions 7 in this case in a conventional manner in an image corner 17 or at an image edge 18.
  • the displayed navigation instructions 7 can also be reduced in size or changed or trimmed in their shape so that an overlap with the object image 16 is no longer present.
  • navigation instructions 7 lean in their design to known traffic signs, but in particular to traffic signs. Thus, it is intuitively possible to grasp the meaning of each navigation hint displayed 7, without first having to read its meaning in an operating manual.
  • Particularly suitable are beacons, warning beacons, directional beacons in curves, diversion signs, distance tables or exit beacons 19 ( Figure 3) as navigation instructions 7 for each corresponding traffic situation.
  • FIG. 3 shows a scheme for the prediction of the vehicle trajectory, i. a scheme for positional shift of the navigation hint 7 when cornering.
  • the future course of the vehicle F is estimated in a first step. This course can be done with the help of lateral acceleration measurements or by measuring steering angles and
  • Vehicle speed are calculated.
  • the symbol or navigation instruction 7 is rotated and shifted in accordance with this course estimation in a second step.
  • the orientation of the navigation hint 7 is tangent to the
  • Trajectory 22 which describes or is expected to describe the vehicle F.
  • the navigation advice 7 in the form of an arrow thus lies on the predicted course 23 of the vehicle F, i. he follows the course of the lane 20.
  • the translational displacement of the navigation instruction 7 can also be dispensed with and this can only be rotated according to the orientation of the tangent 24 to the trajectory 22 by an angle OC extending between the tangent 24 and the longitudinal axis 25 of the vehicle F.
  • the information of the existing lane recognition system 12 can ensure the correct arrangement of the navigation instructions 7 within the lane 20 or at its edge strip 21.
  • Exit beacons 19 may be shifted in position and / or resized to prevent overlap with the preceding vehicle 15 as a detected object 15.
  • the driver is allowed to focus on the displayed navigation instructions and at the same time on the preceding vehicle as another object 15 of the road traffic without danger. In this way, a generally improved orientation of the driver in traffic and thus increased security is achieved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé et un système pour afficher des indications de navigation (7) d'un système de navigation dans un véhicule (F), un secteur de l'environnement du véhicule étant filmé par une caméra (2) et affiché sous forme d'image de l'environnement (9) au moyen d'une unité d'affichage (4). L'indication de navigation (7) est également affichée au moyen de l'unité d'affichage (4). Selon l'invention, dans le cas d'objets (15) filmés qui se déplacent par rapport au véhicule (F) et/ou par rapport à l'environnement et qui sont reconnus et affichés dans l'image de l'environnement (9) sous forme d'image objet (16), l'indication de navigation (7) est disposée et/ou décalée et/ou modifiée, en ce qui concerne sa position et/ou sa taille et/ou sa forme, à l'intérieur de l'image de l'environnement (9) de telle sorte que l'image objet (16) et l'indication de navigation (7) ne se chevauchent pas.
PCT/EP2007/050712 2006-03-07 2007-01-25 Procédé et système pour afficher des indications de navigation Ceased WO2007101744A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/224,456 US20090187333A1 (en) 2006-03-07 2007-01-25 Method and System for Displaying Navigation Instructions
EP07712099A EP1994366B1 (fr) 2006-03-07 2007-01-25 Procédé et système pour afficher des indications de navigation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006010481A DE102006010481A1 (de) 2006-03-07 2006-03-07 Verfahren und Anordnung zur Anzeige von Navigationshinweisen
DE102006010481.1 2006-03-07

Publications (1)

Publication Number Publication Date
WO2007101744A1 true WO2007101744A1 (fr) 2007-09-13

Family

ID=37963898

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/050712 Ceased WO2007101744A1 (fr) 2006-03-07 2007-01-25 Procédé et système pour afficher des indications de navigation

Country Status (4)

Country Link
US (1) US20090187333A1 (fr)
EP (1) EP1994366B1 (fr)
DE (1) DE102006010481A1 (fr)
WO (1) WO2007101744A1 (fr)

Cited By (2)

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US20170284815A1 (en) * 2014-12-10 2017-10-05 Red Hat, Inc. Providing an instruction notification for navigation
CN112526989A (zh) * 2020-11-20 2021-03-19 广州极飞科技有限公司 一种农业无人车导航方法、装置、农业无人车及存储介质

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JP5287929B2 (ja) * 2011-05-20 2013-09-11 株式会社デンソー 電子制御装置
CN102914309B (zh) * 2011-08-01 2016-05-25 环达电脑(上海)有限公司 导航装置及其控制方法
JP5807911B2 (ja) * 2011-11-21 2015-11-10 アルパイン株式会社 ナビゲーション装置
US8930141B2 (en) 2011-12-30 2015-01-06 Nokia Corporation Apparatus, method and computer program for displaying points of interest
DE102012214829A1 (de) 2012-08-21 2014-02-27 Robert Bosch Gmbh Verfahren und Vorrichtung zum Darstellen einer Ausweichtrajektorie zur Kollisionsvermeidung für ein Fahrzeug
DE102012215038A1 (de) * 2012-08-23 2014-05-28 Bayerische Motoren Werke Aktiengesellschaft Kontaktanaloge Anzeige der Entfernung bis zum auszuführenden Fahrmanöver
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DE102013011827A1 (de) 2013-07-15 2015-01-15 Audi Ag Verfahren zum Betrieb einer Navigationseinrichtung, Navigationseinrichtung und Kraftfahrzeug
DE102013016241A1 (de) * 2013-10-01 2015-04-02 Daimler Ag Verfahren und Vorrichtung zur augmentierten Darstellung
US9239244B1 (en) * 2014-09-15 2016-01-19 E-Lead Electronics Co., Ltd. Device capable of showing both navigation and safe driving warning information
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KR101824982B1 (ko) * 2015-10-07 2018-02-02 엘지전자 주식회사 차량 및 그 제어방법
CN105644441A (zh) * 2015-12-28 2016-06-08 深圳市灵动飞扬科技有限公司 倒车辅助显示方法及系统
DE102018203462A1 (de) * 2018-03-07 2019-09-12 Volkswagen Aktiengesellschaft Verfahren zur Berechnung einer Einblendung von Zusatzinformationen für eine Anzeige auf einer Anzeigeeinheit, Vorrichtung zur Durchführung des Verfahrens sowie Kraftfahrzeug und Computerprogramm
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Publication number Priority date Publication date Assignee Title
US20170284815A1 (en) * 2014-12-10 2017-10-05 Red Hat, Inc. Providing an instruction notification for navigation
US10488210B2 (en) * 2014-12-10 2019-11-26 Red Hat, Inc. Providing an instruction notification for navigation
CN112526989A (zh) * 2020-11-20 2021-03-19 广州极飞科技有限公司 一种农业无人车导航方法、装置、农业无人车及存储介质
CN112526989B (zh) * 2020-11-20 2023-11-21 广州极飞科技股份有限公司 一种农业无人车导航方法、装置、农业无人车及存储介质

Also Published As

Publication number Publication date
DE102006010481A1 (de) 2007-09-13
EP1994366A1 (fr) 2008-11-26
EP1994366B1 (fr) 2012-10-03
US20090187333A1 (en) 2009-07-23

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